Inclination Measurement of Human Movement Using a 3-D Accelerometer With Autocalibration

Hendrik J. Luinge, Petrus H. Veltink

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    In the medical field, accelerometers are often used for measuring inclination of body segments and activity of daily living (ADL) because they are small and require little power. A drawback of using accelerometers is the poor quality of inclination estimate for movements with large accelerations. This paper describes the design and performance of a Kalman filter to estimate inclination from the signals of a triaxial accelerometer. This design is based on assumptions concerning the frequency content of the acceleration of the movement that is measured, the knowledge that the magnitude of the gravity is 1 g and taking into account a fluctuating sensor offset. It is shown that for measuring trunk and pelvis inclination during the functional three-dimensional activity of stacking crates, the inclination error that is made is approximately 2/spl deg/ root-mean square. This is nearly twice as accurate as compared to current methods based on low-pass filtering of accelerometer signals.
    Original languageUndefined
    Pages (from-to)112-121
    Number of pages10
    JournalIEEE transactions on neural systems and rehabilitation engineering
    Issue number1
    Publication statusPublished - 2004


    • IR-47643
    • METIS-218285

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